bt_navigator.cpp

// Copyright (c) 2018 Intel Corporation
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#include "nav2_bt_navigator/bt_navigator.hpp"
 
#include <memory>
#include <string>
#include <utility>
#include <vector>
 
#include "nav2_util/geometry_utils.hpp"
#include "nav2_util/node_utils.hpp"
#include "nav2_util/string_utils.hpp"
#include "nav2_util/robot_utils.hpp"
#include "nav2_behavior_tree/bt_utils.hpp"
 
#include "nav2_behavior_tree/plugins_list.hpp"
 
using nav2_util::declare_parameter_if_not_declared;
 
namespace nav2_bt_navigator
{
 
BtNavigator::BtNavigator(rclcpp::NodeOptions options)
: nav2_util::LifecycleNode("bt_navigator", "",
    options.automatically_declare_parameters_from_overrides(true)),
  class_loader_("nav2_core", "nav2_core::NavigatorBase")
{
  RCLCPP_INFO(get_logger(), "Creating");
 
  declare_parameter_if_not_declared(
    this, "plugin_lib_names", rclcpp::ParameterValue(std::vector<std::string>{}));
  declare_parameter_if_not_declared(
    this, "transform_tolerance", rclcpp::ParameterValue(0.1));
  declare_parameter_if_not_declared(
    this, "global_frame", rclcpp::ParameterValue(std::string("map")));
  declare_parameter_if_not_declared(
    this, "robot_base_frame", rclcpp::ParameterValue(std::string("base_link")));
  declare_parameter_if_not_declared(
    this, "odom_topic", rclcpp::ParameterValue(std::string("odom")));
  declare_parameter_if_not_declared(
    this, "filter_duration", rclcpp::ParameterValue(0.3));
}
 
BtNavigator::~BtNavigator()
{
}
 
nav2_util::CallbackReturn
BtNavigator::on_configure(const rclcpp_lifecycle::State & state)
{
  RCLCPP_INFO(get_logger(), "Configuring");
 
  tf_ = std::make_shared<tf2_ros::Buffer>(get_clock());
  auto timer_interface = std::make_shared<tf2_ros::CreateTimerROS>(
    get_node_base_interface(), get_node_timers_interface());
  tf_->setCreateTimerInterface(timer_interface);
  tf_->setUsingDedicatedThread(true);
  tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_, this, false);
 
  global_frame_ = get_parameter("global_frame").as_string();
  robot_frame_ = get_parameter("robot_base_frame").as_string();
  transform_tolerance_ = get_parameter("transform_tolerance").as_double();
  odom_topic_ = get_parameter("odom_topic").as_string();
  filter_duration_ = get_parameter("filter_duration").as_double();
 
  // Libraries to pull plugins (BT Nodes) from
  std::vector<std::string> plugin_lib_names;
  plugin_lib_names = nav2_util::split(nav2::details::BT_BUILTIN_PLUGINS, ';');
 
  auto user_defined_plugins = get_parameter("plugin_lib_names").as_string_array();
  // append user_defined_plugins to plugin_lib_names
  plugin_lib_names.insert(
    plugin_lib_names.end(), user_defined_plugins.begin(),
    user_defined_plugins.end());
 
  nav2_core::FeedbackUtils feedback_utils;
  feedback_utils.tf = tf_;
  feedback_utils.global_frame = global_frame_;
  feedback_utils.robot_frame = robot_frame_;
  feedback_utils.transform_tolerance = transform_tolerance_;
 
  // Odometry smoother object for getting current speed
  auto node = shared_from_this();
  odom_smoother_ = std::make_shared<nav2_util::OdomSmoother>(node, filter_duration_, odom_topic_);
 
  // Navigator defaults
  const std::vector<std::string> default_navigator_ids = {
    "navigate_to_pose",
    "navigate_through_poses"
  };
  const std::vector<std::string> default_navigator_types = {
    "nav2_bt_navigator::NavigateToPoseNavigator",
    "nav2_bt_navigator::NavigateThroughPosesNavigator"
  };
 
  std::vector<std::string> navigator_ids;
  declare_parameter_if_not_declared(
    node, "navigators",
    rclcpp::ParameterValue(default_navigator_ids));
  get_parameter("navigators", navigator_ids);
  if (navigator_ids == default_navigator_ids) {
    for (size_t i = 0; i < default_navigator_ids.size(); ++i) {
      declare_parameter_if_not_declared(
        node, default_navigator_ids[i] + ".plugin",
        rclcpp::ParameterValue(default_navigator_types[i]));
    }
  }
 
  // Load navigator plugins
  for (size_t i = 0; i != navigator_ids.size(); i++) {
    try {
      std::string navigator_type = nav2_util::get_plugin_type_param(node, navigator_ids[i]);
      RCLCPP_INFO(
        get_logger(), "Creating navigator id %s of type %s",
        navigator_ids[i].c_str(), navigator_type.c_str());
      navigators_.push_back(class_loader_.createUniqueInstance(navigator_type));
      if (!navigators_.back()->on_configure(
          node, plugin_lib_names, feedback_utils,
          &plugin_muxer_, odom_smoother_))
      {
        return nav2_util::CallbackReturn::FAILURE;
      }
    } catch (const std::exception & ex) {
      RCLCPP_FATAL(
        get_logger(), "Failed to create navigator id %s."
        " Exception: %s", navigator_ids[i].c_str(), ex.what());
      on_cleanup(state);
      return nav2_util::CallbackReturn::FAILURE;
    }
  }
 
  return nav2_util::CallbackReturn::SUCCESS;
}
 
nav2_util::CallbackReturn
BtNavigator::on_activate(const rclcpp_lifecycle::State & state)
{
  RCLCPP_INFO(get_logger(), "Activating");
  for (size_t i = 0; i != navigators_.size(); i++) {
    if (!navigators_[i]->on_activate()) {
      on_deactivate(state);
      return nav2_util::CallbackReturn::FAILURE;
    }
  }
 
  // create bond connection
  createBond();
 
  return nav2_util::CallbackReturn::SUCCESS;
}
 
nav2_util::CallbackReturn
BtNavigator::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
{
  RCLCPP_INFO(get_logger(), "Deactivating");
  for (size_t i = 0; i != navigators_.size(); i++) {
    if (!navigators_[i]->on_deactivate()) {
      return nav2_util::CallbackReturn::FAILURE;
    }
  }
 
  // destroy bond connection
  destroyBond();
 
  return nav2_util::CallbackReturn::SUCCESS;
}
 
nav2_util::CallbackReturn
BtNavigator::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
{
  RCLCPP_INFO(get_logger(), "Cleaning up");
 
  // Reset the listener before the buffer
  tf_listener_.reset();
  tf_.reset();
 
  for (size_t i = 0; i != navigators_.size(); i++) {
    if (!navigators_[i]->on_cleanup()) {
      return nav2_util::CallbackReturn::FAILURE;
    }
  }
 
  navigators_.clear();
  RCLCPP_INFO(get_logger(), "Completed Cleaning up");
  return nav2_util::CallbackReturn::SUCCESS;
}
 
nav2_util::CallbackReturn
BtNavigator::on_shutdown(const rclcpp_lifecycle::State & /*state*/)
{
  RCLCPP_INFO(get_logger(), "Shutting down");
  return nav2_util::CallbackReturn::SUCCESS;
}
 
}  // namespace nav2_bt_navigator
 
#include "rclcpp_components/register_node_macro.hpp"
 
// Register the component with class_loader.
// This acts as a sort of entry point, allowing the component to be discoverable when its library
// is being loaded into a running process.
RCLCPP_COMPONENTS_REGISTER_NODE(nav2_bt_navigator::BtNavigator)